#ifndef __SCNS_EKF_CTRV_H__
#define __SCNS_EKF_CTRV_H__

#include "ScnsConfig.h"

#if defined(SCNS_EKF_CTRV_ENABLE)&&SCNS_EKF_CTRV_ENABLE==1

#include "ScnsYing.h"
#include "ScnsKalman.h"

typedef ScnsKalman5 ScnsEkfCtrv;//x(m),y(m),yaw(w),v(m/s),dYaw(w/s),a(m/(s^2))

extern void scnsEkfCtrvInit(ScnsEkfCtrv*rd);
extern void scnsEkfCtrvUpdate3(ScnsEkfCtrv*rd,float dt,const float Q[5][5],const float H[3][5],const float R[3][3],const float M[3][1]);

#endif
#endif
